自动避障红外电动小车C51程序.doc

自动避障红外电动小车C51程序
#include""
#include<>
#define uchar unsigned char
#define uint unsigned int
#define left_infrare 0
#define right_infrare 1
#define dj_state1 0X5F //前进
#define dj_state2 0X4F //右转
#define dj_state3 0X1F //左转
#define dj_state4 0X0F //后退
#define dj_state5 0XfF //停车
#define light_off 0x0f //关转向灯
#define left_light 0X5F //左转向灯两个是5f
#define right_light 0XaF //右转向灯0xaf,两个是0xbf
#define back_light 0XcF //刹车灯即后灯
#define front_light 0x3f //前灯
#define light_on 0xff //开所有灯
#define true 1
#define false 0
#define LCD_Data P0
#define Busy 0x80 //用于检测LCD状态字中的Busy标识
sbit c=P1^2; //转向灯使能端
uchar code talk1[]={"backward"};
uchar code talk2[]={"forward"};
uchar code talk3[]={"Turnleft"};
uchar code talk4[]={"Turn right"};
uchar flage =0x00;
sbit ledcs=P1^2; //74H573的片选信号
//sbit left_led=P0^2; //左红外发射管
//sbit right_led=P0^3; //右红外发射管
sbit LCD_RS = P1^5; //LCD定义引脚
sbit LCD_RW = P1^6; //
sbit LCD_E = P1^7 ;
void Delay5Ms(void)
{
uint TempCyc = 5552;
while(TempCyc--);
}
//400ms延时
void Delay400Ms(void)
{uchar TempCycA = 5;
uint TempCycB;
while(TempCycA--)
{ TempCycB=7269;
while(TempCycB--);
}
}
//LCD读状态
unsigned char ReadStatusLCD(void)
{
LCD_Data = 0xFF;
LCD_RS = 0;
LCD_RW = 1;
LCD_E = 0;
LCD_E = 0;
LCD_E = 1;
while (LCD_Data & Busy); //检测忙信号
return(LCD_Data);
}
//LCD写数据
void WriteDataLCD(unsigned